OpenRaiser/Intern-Atlas huggingface dataset:
Tutte Embeddings of Tetrahedral Meshes
Venue: arXiv cs.CG 2023
Year: 2023

Tutte's embedding theorem states that every 3-connected graph without a $K_5$ or $K_{3,3}$ minor (i.e. a planar graph) is embedded in the plane if the outer face is in convex position and the interior vertices are convex combinations of their neighbors. We show that this result extends to simply connected tetrahedral meshes in a natural way: for the tetrahedral mesh to be embedded if the outer polyhedron is in convex position and the interior vertices are convex combination of their neighbors it is sufficient (but not necessary) that the graph of the tetrahedral mesh contains no $K_6$ and no $K_{3,3,1}$, and all triangles incident on three boundary vertices are boundary triangles.
An Effective Deployment of Contrastive Learning in Multi-label Text Classification
Venue: arXiv cs.CL 2023
Year: 2023

The effectiveness of contrastive learning technology in natural language processing tasks is yet to be explored and analyzed. How to construct positive and negative samples correctly and reasonably is the core challenge of contrastive learning. It is even harder to discover contrastive objects in multi-label text classification tasks. There are very few contrastive losses proposed previously. In this paper, we investigate the problem from a different angle by proposing five novel contrastive losses for multi-label text classification tasks. These are Strict Contrastive Loss (SCL), Intra-label Contrastive Loss (ICL), Jaccard Similarity Contrastive Loss (JSCL), Jaccard Similarity Probability Contrastive Loss (JSPCL), and Stepwise Label Contrastive Loss (SLCL). We explore the effectiveness of contrastive learning for multi-label text classification tasks by the employment of these novel losses and provide a set of baseline models for deploying contrastive learning techniques on specific tasks. We further perform an interpretable analysis of our approach to show how different components of contrastive learning losses play their roles. The experimental results show that our proposed contrastive losses can bring improvement to multi-label text classification tasks. Our work also explores how contrastive learning should be adapted for multi-label text classification tasks.
maplab 2.0 -- A Modular and Multi-Modal Mapping Framework
Venue: arXiv cs.RO 2023
Year: 2023

Integration of multiple sensor modalities and deep learning into Simultaneous Localization And Mapping (SLAM) systems are areas of significant interest in current research. Multi-modality is a stepping stone towards achieving robustness in challenging environments and interoperability of heterogeneous multi-robot systems with varying sensor setups. With maplab 2.0, we provide a versatile open-source platform that facilitates developing, testing, and integrating new modules and features into a fully-fledged SLAM system. Through extensive experiments, we show that maplab 2.0's accuracy is comparable to the state-of-the-art on the HILTI 2021 benchmark. Additionally, we showcase the flexibility of our system with three use cases: i) large-scale (approx. 10 km) multi-robot multi-session (23 missions) mapping, ii) integration of non-visual landmarks, and iii) incorporating a semantic object-based loop closure module into the mapping framework. The code is available open-source at https://github.com/ethz-asl/maplab.
A Comparison of New Swarm Task Allocation Algorithms in Unknown Environments with Varying Task Density
Venue: arXiv cs.MA 2023
Year: 2023

Task allocation is an important problem for robot swarms to solve, allowing agents to reduce task completion time by performing tasks in a distributed fashion. Existing task allocation algorithms often assume prior knowledge of task location and demand or fail to consider the effects of the geometric distribution of tasks on the completion time and communication cost of the algorithms. In this paper, we examine an environment where agents must explore and discover tasks with positive demand and successfully assign themselves to complete all such tasks. We first provide a new discrete general model for modeling swarms. Operating within this theoretical framework, we propose two new task allocation algorithms for initially unknown environments -- one based on N-site selection and the other on virtual pheromones. We analyze each algorithm separately and also evaluate the effectiveness of the two algorithms in dense vs. sparse task distributions. Compared to the Levy walk, which has been theorized to be optimal for foraging, our virtual pheromone inspired algorithm is much faster in sparse to medium task densities but is communication and agent intensive. Our site selection inspired algorithm also outperforms Levy walk in sparse task densities and is a less resource-intensive option than our virtual pheromone algorithm for this case. Because the performance of both algorithms relative to random walk is dependent on task density, our results shed light on how task density is important in choosing a task allocation algorithm in initially unknown environments.
Compositional Learning of Dynamical System Models Using Port-Hamiltonian Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Many dynamical systems -- from robots interacting with their surroundings to large-scale multiphysics systems -- involve a number of interacting subsystems. Toward the objective of learning composite models of such systems from data, we present i) a framework for compositional neural networks, ii) algorithms to train these models, iii) a method to compose the learned models, iv) theoretical results that bound the error of the resulting composite models, and v) a method to learn the composition itself, when it is not known a priori. The end result is a modular approach to learning: neural network submodels are trained on trajectory data generated by relatively simple subsystems, and the dynamics of more complex composite systems are then predicted without requiring additional data generated by the composite systems themselves. We achieve this compositionality by representing the system of interest, as well as each of its subsystems, as a port-Hamiltonian neural network (PHNN) -- a class of neural ordinary differential equations that uses the port-Hamiltonian systems formulation as inductive bias. We compose collections of PHNNs by using the system's physics-informed interconnection structure, which may be known a priori, or may itself be learned from data. We demonstrate the novel capabilities of the proposed framework through numerical examples involving interacting spring-mass-damper systems. Models of these systems, which include nonlinear energy dissipation and control inputs, are learned independently. Accurate compositions are learned using an amount of training data that is negligible in comparison with that required to train a new model from scratch. Finally, we observe that the composite PHNNs enjoy properties of port-Hamiltonian systems, such as cyclo-passivity -- a property that is useful for control purposes.
Self-supervised On-device Federated Learning from Unlabeled Streams
Venue: arXiv cs.CV 2023
Year: 2023

The ubiquity of edge devices has led to a growing amount of unlabeled data produced at the edge. Deep learning models deployed on edge devices are required to learn from these unlabeled data to continuously improve accuracy. Self-supervised representation learning has achieved promising performances using centralized unlabeled data. However, the increasing awareness of privacy protection limits centralizing the distributed unlabeled image data on edge devices. While federated learning has been widely adopted to enable distributed machine learning with privacy preservation, without a data selection method to efficiently select streaming data, the traditional federated learning framework fails to handle these huge amounts of decentralized unlabeled data with limited storage resources on edge. To address these challenges, we propose a Self-supervised On-device Federated learning framework with coreset selection, which we call SOFed, to automatically select a coreset that consists of the most representative samples into the replay buffer on each device. It preserves data privacy as each client does not share raw data while learning good visual representations. Experiments demonstrate the effectiveness and significance of the proposed method in visual representation learning.
Welfare and Fairness in Multi-objective Reinforcement Learning
Venue: arXiv cs.GT 2023
Year: 2023

We study fair multi-objective reinforcement learning in which an agent must learn a policy that simultaneously achieves high reward on multiple dimensions of a vector-valued reward. Motivated by the fair resource allocation literature, we model this as an expected welfare maximization problem, for some nonlinear fair welfare function of the vector of long-term cumulative rewards. One canonical example of such a function is the Nash Social Welfare, or geometric mean, the log transform of which is also known as the Proportional Fairness objective. We show that even approximately optimal optimization of the expected Nash Social Welfare is computationally intractable even in the tabular case. Nevertheless, we provide a novel adaptation of Q-learning that combines nonlinear scalarized learning updates and non-stationary action selection to learn effective policies for optimizing nonlinear welfare functions. We show that our algorithm is provably convergent, and we demonstrate experimentally that our approach outperforms techniques based on linear scalarization, mixtures of optimal linear scalarizations, or stationary action selection for the Nash Social Welfare Objective.
NEPTUNE: Nonentangling Trajectory Planning for Multiple Tethered Unmanned Vehicles
Venue: arXiv cs.RO 2023
Year: 2023

Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In this paper, we present a complete approach to address this problem. Firstly, we propose a multi-robot tether-aware representation of homotopy, using which we can efficiently evaluate the feasibility and safety of a potential path in terms of (1) the cable length required to reach a target following the path, and (2) the risk of entanglements with the cables of other robots. Then, the proposed representation is applied in a decentralized and online planning framework that includes a graph-based kinodynamic trajectory finder and an optimization-based trajectory refinement, to generate entanglement-free, collision-free and dynamically feasible trajectories. The efficiency of the proposed homotopy representation is compared against existing single and multiple tethered robot planning approaches. Simulations with up to 8 UAVs show the effectiveness of the approach in entanglement prevention and its real-time capabilities. Flight experiments using 3 tethered UAVs verify the practicality of the presented approach.
Can In-context Learners Learn a Reasoning Concept from Demonstrations?
Venue: arXiv cs.CL 2023
Year: 2023

Language models exhibit an emergent ability to learn a new task from a small number of input-output demonstrations. However, recent work shows that in-context learners largely rely on their pre-trained knowledge, such as the sentiment of the labels, instead of learning new associations from the input. We argue that the commonly-used few-shot evaluation using a random selection of in-context demonstrations can not disentangle models' reliance on such biases, as most of the randomly-selected demonstrations do not present relations informative for prediction beyond exposing the task's input-output distribution. Therefore, to evaluate models' in-context learning ability independent of models' memory, we introduce a Concept-sharing few-shot learning method choosing the demonstrations that share an underlying concept with the predicted sample. We extract a set of such concepts from available human explanations and measure how much models can benefit from presenting these concepts in few-shot demonstrations. We find that most of the recent in-context learners can not consistently benefit from the demonstrated concepts, irrespective of the model size. However, we note that T0 models are more sensitive to exhibited concepts, benefiting from concept-sharing demonstrations in 7 out of 8 evaluation scenarios.
Downlink Transmission with Heterogeneous URLLC Services: Discrete Signaling With Single-User Decoding
Venue: arXiv cs.IT 2023
Year: 2023

The problem of designing downlink transmission schemes for supporting heterogeneous ultra-reliable low-latency communications (URLLC) and/or with other types of services is investigated. We consider the broadcast channel, where the base station sends superimposed signals to multiple users. Under heterogeneous blocklength constraints, strong users who are URLLC users cannot wait to receive the entire transmission frame and perform successive interference cancellation (SIC) due to stringent latency requirements, in contrast to the conventional infinite blocklength cases. Even if SIC is feasible, SIC may be imperfect under finite blocklength constraints. To cope with the heterogeneity in latency and reliability requirements, we propose a practical downlink transmission scheme with discrete signaling and single-user decoding (SUD), i.e., without SIC. We carefully design the discrete input distributions to enable efficient SUD by exploiting the structural interference. Furthermore, we derive the second-order achievable rate under heterogenous blocklength and error probability constraints and use it to guide the design of channel coding and modulations. It is shown that in terms of achievable rate under short blocklength, the proposed scheme with regular quadrature amplitude modulations and SUD can operate extremely close to the benchmark schemes that assume perfect SIC with Gaussian signaling.
Systematic Design and Evaluation of Social Determinants of Health Ontology (SDoHO)
Venue: arXiv cs.CY 2023
Year: 2023

Social determinants of health (SDoH) have a significant impact on health outcomes and well-being. Addressing SDoH is the key to reducing healthcare inequalities and transforming a "sick care" system into a "health promoting" system. To address the SDOH terminology gap and better embed relevant elements in advanced biomedical informatics, we propose an SDoH ontology (SDoHO), which represents fundamental SDoH factors and their relationships in a standardized and measurable way. The ontology formally models classes, relationships, and constraints based on multiple SDoH-related resources. Expert review and coverage evaluation, using clinical notes data and a national survey, showed satisfactory results. SDoHO could potentially play an essential role in providing a foundation for a comprehensive understanding of the associations between SDoH and health outcomes and providing a path toward health equity across populations.
Distributed Pruning Towards Tiny Neural Networks in Federated Learning
Venue: arXiv cs.LG 2023
Year: 2023

Neural network pruning is an essential technique for reducing the size and complexity of deep neural networks, enabling large-scale models on devices with limited resources. However, existing pruning approaches heavily rely on training data for guiding the pruning strategies, making them ineffective for federated learning over distributed and confidential datasets. Additionally, the memory- and computation-intensive pruning process becomes infeasible for recourse-constrained devices in federated learning. To address these challenges, we propose FedTiny, a distributed pruning framework for federated learning that generates specialized tiny models for memory- and computing-constrained devices. We introduce two key modules in FedTiny to adaptively search coarse- and finer-pruned specialized models to fit deployment scenarios with sparse and cheap local computation. First, an adaptive batch normalization selection module is designed to mitigate biases in pruning caused by the heterogeneity of local data. Second, a lightweight progressive pruning module aims to finer prune the models under strict memory and computational budgets, allowing the pruning policy for each layer to be gradually determined rather than evaluating the overall model structure. The experimental results demonstrate the effectiveness of FedTiny, which outperforms state-of-the-art approaches, particularly when compressing deep models to extremely sparse tiny models. FedTiny achieves an accuracy improvement of 2.61% while significantly reducing the computational cost by 95.91% and the memory footprint by 94.01% compared to state-of-the-art methods.
Approximate Order-Preserving Pattern Mining for Time Series
Venue: arXiv cs.DB 2023
Year: 2023

The order-preserving pattern mining can be regarded as discovering frequent trends in time series, since the same order-preserving pattern has the same relative order which can represent a trend. However, in the case where data noise is present, the relative orders of many meaningful patterns are usually similar rather than the same. To mine similar relative orders in time series, this paper addresses an approximate order-preserving pattern (AOP) mining method based on (delta-gamma) distance to effectively measure the similarity, and proposes an algorithm called AOP-Miner to mine AOPs according to global and local approximation parameters. AOP-Miner adopts a pattern fusion strategy to generate candidate patterns generation and employs the screening strategy to calculate the supports of candidate patterns. Experimental results validate that AOP-Miner outperforms other competitive methods and can find more similar trends in time series.
PointCaM: Cut-and-Mix for Open-Set Point Cloud Learning
Venue: arXiv cs.CV 2023
Year: 2023

Point cloud learning is receiving increasing attention, however, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper mainly discusses point cloud learning under open-set settings, where we train the model without data from unknown classes and identify them in the inference stage. Basically, we propose to solve open-set point cloud learning using a novel Point Cut-and-Mix mechanism consisting of Unknown-Point Simulator and Unknown-Point Estimator modules. Specifically, we use the Unknown-Point Simulator to simulate out-of-distribution data in the training stage by manipulating the geometric context of partial known data. Based on this, the Unknown-Point Estimator module learns to exploit the point cloud's feature context for discriminating the known and unknown data. Extensive experiments show the plausibility of open-set point cloud learning and the effectiveness of our proposed solutions. Our code is available at \url{https://github.com/ShiQiu0419/pointcam}.
Towards Neural Decoding of Imagined Speech based on Spoken Speech
Venue: arXiv cs.HC 2023
Year: 2023

Decoding imagined speech from human brain signals is a challenging and important issue that may enable human communication via brain signals. While imagined speech can be the paradigm for silent communication via brain signals, it is always hard to collect enough stable data to train the decoding model. Meanwhile, spoken speech data is relatively easy and to obtain, implying the significance of utilizing spoken speech brain signals to decode imagined speech. In this paper, we performed a preliminary analysis to find out whether if it would be possible to utilize spoken speech electroencephalography data to decode imagined speech, by simply applying the pre-trained model trained with spoken speech brain signals to decode imagined speech. While the classification performance of imagined speech data solely used to train and validation was 30.5 %, the transferred performance of spoken speech based classifier to imagined speech data displayed average accuracy of 26.8 % which did not have statistically significant difference compared to the imagined speech based classifier (p = 0.0983, chi-square = 4.64). For more comprehensive analysis, we compared the result with the visual imagery dataset, which would naturally be less related to spoken speech compared to the imagined speech. As a result, visual imagery have shown solely trained performance of 31.8 % and transferred performance of 26.3 % which had shown statistically significant difference between each other (p = 0.022, chi-square = 7.64). Our results imply the potential of applying spoken speech to decode imagined speech, as well as their underlying common features.
Learning Physically Realizable Skills for Online Packing of General 3D Shapes
Venue: arXiv cs.LG 2023
Year: 2023

We study the problem of learning online packing skills for irregular 3D shapes, which is arguably the most challenging setting of bin packing problems. The goal is to consecutively move a sequence of 3D objects with arbitrary shapes into a designated container with only partial observations of the object sequence. Meanwhile, we take physical realizability into account, involving physics dynamics and constraints of a placement. The packing policy should understand the 3D geometry of the object to be packed and make effective decisions to accommodate it in the container in a physically realizable way. We propose a Reinforcement Learning (RL) pipeline to learn the policy. The complex irregular geometry and imperfect object placement together lead to huge solution space. Direct training in such space is prohibitively data intensive. We instead propose a theoretically-provable method for candidate action generation to reduce the action space of RL and the learning burden. A parameterized policy is then learned to select the best placement from the candidates. Equipped with an efficient method of asynchronous RL acceleration and a data preparation process of simulation-ready training sequences, a mature packing policy can be trained in a physics-based environment within 48 hours. Through extensive evaluation on a variety of real-life shape datasets and comparisons with state-of-the-art baselines, we demonstrate that our method outperforms the best-performing baseline on all datasets by at least 12.8% in terms of packing utility.
Physics-Informed Model-Based Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL algorithm, we learn a model of the environment, essentially its transition dynamics and reward function, use it to generate imaginary trajectories and backpropagate through them to update the policy, exploiting the differentiability of the model. Intuitively, learning more accurate models should lead to better model-based RL performance. Recently, there has been growing interest in developing better deep neural network based dynamics models for physical systems, by utilizing the structure of the underlying physics. We focus on robotic systems undergoing rigid body motion without contacts. We compare two versions of our model-based RL algorithm, one which uses a standard deep neural network based dynamics model and the other which uses a much more accurate, physics-informed neural network based dynamics model. We show that, in model-based RL, model accuracy mainly matters in environments that are sensitive to initial conditions, where numerical errors accumulate fast. In these environments, the physics-informed version of our algorithm achieves significantly better average-return and sample efficiency. In environments that are not sensitive to initial conditions, both versions of our algorithm achieve similar average-return, while the physics-informed version achieves better sample efficiency. We also show that, in challenging environments, physics-informed model-based RL achieves better average-return than state-of-the-art model-free RL algorithms such as Soft Actor-Critic, as it computes the policy-gradient analytically, while the latter estimates it through sampling.